= TIAGo OMNI Base =

{{attachment:TIAGo_OMNI_Base.png||width=400,align="right"}}

''ROS Software Maintainer: [[http://pal-robotics.com|PAL Robotics]]''

TIAGo OMNI Base is PAL Robotics’ recently developed omnidrive robot. TIAGo OMNI Base is complete with omnidirectional drive with 3 DoF mecanum wheels and includes two LIDAR sensors for an unobstructed 360º FOV secure movement. This includes autonomous navigation and obstacle detection. TIAGo OMNI Base is part of the TIAGo robot family, which includes the original Autonomous Mobile Robot (AMR) with differential drive, TIAGo Base.

TIAGo OMNI Base users can take full advantage of the manoeuvrability offered by TIAGo OMNI Base’s omnidrive base for path planning. The omnidirectional robot base provides precision positioning even in constrained environments. This is where a robot with omnidirectional movement appears to be the most optimal proposal thanks to its versatility of 360º movement.

In summary, TIAGo OMNI Base offers the following advantages:

 * EFFICIENT: Autonomous navigation, detection of obstacles and route planning.
 * HIGHLY MANOEUVRABLE: Four omnidirectional mechanical wheels to navigate in all directions.
 * CUSTOMIZABLE: You can customize it with accessories to fit your needs.
 * HIGH TRACTION: Optimum navigation results in uneven surfaces.

It also has already developed software for navigation. This robot runs on ROS Melodic/Noetic internally, and uses state-of-the-art [[ros_control]] components.

If you wish to know more or request a quote, please [[https://pal-robotics.com/contact/|send us a message]] or [[https://pal-robotics.com/robots/tiago-base/|refer to the product page]]
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== Tutorials ==
A comprehensive set of tutorials are now available for the TIAGo OMNI Base robot in '''[[Robots/TIAGo-OMNI-base/Tutorials]]'''. The tutorials make use of the [[http://gazebosim.org|Gazebo]] simulator and currently contains tutorials on autonomous navigation. Comprehensive instructions on how to install the public simulator are provided.

== Public simulation packages overview ==
This section presents an overview of the packages used in the public simulation of TIAGo OMNI Base, with links to the corresponding packages. For the installation instructions of the packages please refer to [[http://wiki.ros.org/Robots/TIAGo-OMNI-base/Tutorials/Installation|TIAGo OMNI Base simulation installation tutorial]].


== Control the robot ==

TIAGo OMNI Base supports a logitech joystick by default. 

{{attachment:logitech-joystick.png||width=250, align="center"}}

Controllers from other vendors may have different key mappings. In this case the [[https://github.com/pal-robotics/omni_base_robot/blob/melodic-devel/omni_base_bringup/config/joy_teleop/joy_teleop.yaml|joy_teleop.yaml]] file needs to be changed to reflect the different configuration.

If you had one plugged when you started up the (real or simulated) robot, now it can be used. Activate the joystick commands by pressing the 'X' button, and drive using the controllers. This activation behaviour comes in very handy when the robot is navigating autonomously but a rapid interruption is needed.

One can also use the [[http://wiki.ros.org/rqt_robot_steering|rqt_robot_steering]] plugin to drive the robot by sending commands directly to '''/mobile_base_controller/cmd_vel'''

== Library Overview ==

=== Basic Configuration ===

||'''Component'''               || '''ROS package/stack'''            ||
||Robot model (URDF)            || [[https://github.com/pal-robotics/omni_base_robot/tree/melodic-devel/omni_base_description| omni_base_description]]||
||Robot controller configuration|| [[https://github.com/pal-robotics/omni_base_robot/tree/melodic-devel/omni_base_controller_configuration| omni_base_controller_configuration]] ||
||Robot bringup files           || [[https://github.com/pal-robotics/omni_base_robot/tree/melodic-devel/omni_base_bringup| omni_base_bringup]]                  ||

=== Hardware Drivers and Simulation ===

||'''Component'''           || '''ROS package/stack'''              ||
||Simulation-specifig controller config|| [[https://github.com/pal-robotics/omni_base_simulation/tree/melodic-devel/omni_base_controller_configuration_gazebo| omni_base_controller_configuration_gazebo]] ||
||Gazebo setup              || [[https://github.com/pal-robotics/omni_base_simulation/tree/melodic-devel/omni_base_gazebo| omni_base_gazebo]] ||
||Navigation stack              || [[https://github.com/pal-robotics/omni_base_navigation| omni_base_navigation]] ||

=== High-Level Capabilities ===

||'''Component'''        || '''ROS package/stack'''     ||
||Control over the source of movement commands  || [[twist_mux]]         ||
||Joystick teleoperation interface    || [[joy_teleop]]     ||


== Related Repositories ==

[[https://github.com/pal-robotics|PAL Robotics GitHub organization]]